CPose3D_unittest.cpp File Reference

#include <CTraitsTest.h>
#include <gtest/gtest.h>
#include <mrpt/math/num_jacobian.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/Lie/SE.h>
#include <Eigen/Dense>

Include dependency graph for CPose3D_unittest.cpp:

Go to the source code of this file.

Classes
class	Pose3DTests
struct	Pose3DTests::TParams_func_jacob_Aexpe_D

Functions
	TEST_F (Pose3DTests, DefaultValues)
	TEST_F (Pose3DTests, Initialization)
	TEST_F (Pose3DTests, OperatorBracket)
	TEST_F (Pose3DTests, InverseHM)
	TEST_F (Pose3DTests, Compose)
	TEST_F (Pose3DTests, composeFrom)
	TEST_F (Pose3DTests, ToFromCPose2D)
	TEST_F (Pose3DTests, ComposeAndInvComposeWithPoint)
	TEST_F (Pose3DTests, ComposePointJacob)
	TEST_F (Pose3DTests, ComposePointJacobApprox)
	TEST_F (Pose3DTests, InvComposePointJacob)
	TEST_F (Pose3DTests, ComposePointJacob_se3)
	TEST_F (Pose3DTests, InvComposePointJacob_se3)
	TEST_F (Pose3DTests, ExpLnEqual)
	TEST_F (Pose3DTests, Jacob_dExpe_de_at_0)
	TEST_F (Pose3DTests, Jacob_dLnT_dT)
	TEST_F (Pose3DTests, Jacob_dexpeD_de)
	TEST_F (Pose3DTests, Jacob_dDexpe_de)
	TEST_F (Pose3DTests, Jacob_dAexpeD_de)

Variables
static const std::vector< mrpt::poses::CPose3D >	ptc

Function Documentation

TEST_F() [1/19]

TEST_F	(	Pose3DTests	,
		DefaultValues
	)

Definition at line 810 of file CPose3D_unittest.cpp.

TEST_F() [2/19]

TEST_F	(	Pose3DTests	,
		Initialization
	)

Definition at line 834 of file CPose3D_unittest.cpp.

TEST_F() [3/19]

TEST_F	(	Pose3DTests	,
		OperatorBracket
	)

Definition at line 845 of file CPose3D_unittest.cpp.

TEST_F() [4/19]

TEST_F	(	Pose3DTests	,
		InverseHM
	)

Definition at line 877 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [5/19]

TEST_F	(	Pose3DTests	,
		Compose
	)

Definition at line 882 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [6/19]

TEST_F	(	Pose3DTests	,
		composeFrom
	)

Definition at line 887 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [7/19]

TEST_F	(	Pose3DTests	,
		ToFromCPose2D
	)

Definition at line 893 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [8/19]

TEST_F	(	Pose3DTests	,
		ComposeAndInvComposeWithPoint
	)

Definition at line 898 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [9/19]

TEST_F	(	Pose3DTests	,
		ComposePointJacob
	)

Definition at line 909 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [10/19]

TEST_F	(	Pose3DTests	,
		ComposePointJacobApprox
	)

Definition at line 918 of file CPose3D_unittest.cpp.

References mrpt::DEG2RAD().

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TEST_F() [11/19]

TEST_F	(	Pose3DTests	,
		InvComposePointJacob
	)

Definition at line 937 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [12/19]

TEST_F	(	Pose3DTests	,
		ComposePointJacob_se3
	)

Definition at line 948 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [13/19]

TEST_F	(	Pose3DTests	,
		InvComposePointJacob_se3
	)

Definition at line 957 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [14/19]

TEST_F	(	Pose3DTests	,
		ExpLnEqual
	)

Definition at line 967 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [15/19]

TEST_F	(	Pose3DTests	,
		Jacob_dExpe_de_at_0
	)

Definition at line 972 of file CPose3D_unittest.cpp.

TEST_F() [16/19]

TEST_F	(	Pose3DTests	,
		Jacob_dLnT_dT
	)

Definition at line 973 of file CPose3D_unittest.cpp.

References mrpt::DEG2RAD().

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TEST_F() [17/19]

TEST_F	(	Pose3DTests	,
		Jacob_dexpeD_de
	)

Definition at line 986 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [18/19]

TEST_F	(	Pose3DTests	,
		Jacob_dDexpe_de
	)

Definition at line 991 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [19/19]

TEST_F	(	Pose3DTests	,
		Jacob_dAexpeD_de
	)

Definition at line 996 of file CPose3D_unittest.cpp.

References ptc.

Variable Documentation

ptc

const std::vector<mrpt::poses::CPose3D> ptc

static

Initial value:

= {
    {.0, .0, .0, DEG2RAD(.0), DEG2RAD(.0), DEG2RAD(.0)},
    {1.0, 2.0, 3.0, DEG2RAD(.0), DEG2RAD(.0), DEG2RAD(.0)},
    {1.0, 2.0, 3.0, DEG2RAD(10.0), DEG2RAD(.0), DEG2RAD(.0)},
    {1.0, 2.0, 3.0, DEG2RAD(.0), DEG2RAD(1.0), DEG2RAD(.0)},
    {1.0, 2.0, 3.0, DEG2RAD(.0), DEG2RAD(.0), DEG2RAD(1.0)},
    {1.0, 2.0, 3.0, DEG2RAD(80.0), DEG2RAD(5.0), DEG2RAD(5.0)},
    {1.0, 2.0, 3.0, DEG2RAD(-20.0), DEG2RAD(-30.0), DEG2RAD(-40.0)},
    {1.0, 2.0, 3.0, DEG2RAD(-45.0), DEG2RAD(10.0), DEG2RAD(70.0)},
    {1.0, 2.0, 3.0, DEG2RAD(40.0), DEG2RAD(-5.0), DEG2RAD(25.0)},
    {1.0, 2.0, 3.0, DEG2RAD(40.0), DEG2RAD(20.0), DEG2RAD(-15.0)},
    {-6.0, 2.0, 3.0, DEG2RAD(40.0), DEG2RAD(20.0), DEG2RAD(15.0)},
    {6.0, -5.0, 3.0, DEG2RAD(40.0), DEG2RAD(20.0), DEG2RAD(15.0)},
    {6.0, 2.0, -9.0, DEG2RAD(40.0), DEG2RAD(20.0), DEG2RAD(15.0)},
    {0.0, 8.0, 5.0, DEG2RAD(-45.0), DEG2RAD(10.0), DEG2RAD(70.0)},
    {1.0, 0.0, 5.0, DEG2RAD(-45.0), DEG2RAD(10.0), DEG2RAD(70.0)},
    {1.0, 8.0, 0.0, DEG2RAD(-45.0), DEG2RAD(10.0), DEG2RAD(70.0)}}

Definition at line 858 of file CPose3D_unittest.cpp.

Referenced by TEST_F().